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Autonomous Robots
Erschienen in: Autonomous Robots 6/2019

20.10.2018

Decentralized progressive shape formation with robot swarms

verfasst von: Guannan Li, David St-Onge, Carlo Pinciroli, Andrea Gasparri, Emanuele Garone, Giovanni Beltrame

Erschienen in: Autonomous Robots | Ausgabe 6/2019

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Abstract

We address the problem of progressively deploying a set of robots to a formation defined as a point cloud, in a decentralized manner. To achieve this, we present an algorithm that transforms a given point cloud into an acyclic directed graph. This graph is used by the control law to allow a swarm of robots to progressively form the target shape based only on local decisions. This means that free robots (i.e., not yet part of the formation) find their location based on the perceived location of the robots already in the formation. We prove that for a 2D shape it is sufficient for a free robot to compute its distance from two robots in the formation to achieve this objective. We validate our method using physics-based simulations and robotic experiments, showing consistent convergence and minimal formation placement error.
Vorheriger Artikel Passive shared virtual environment for haptic cooperation
Nächster Artikel Sequential Monte Carlo controller that integrates physical consistency and motion knowledge

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Metadaten
Titel
Decentralized progressive shape formation with robot swarms
verfasst von
Guannan Li
David St-Onge
Carlo Pinciroli
Andrea Gasparri
Emanuele Garone
Giovanni Beltrame
Publikationsdatum
20.10.2018
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 6/2019
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-018-9807-5

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